CN106444745A - Navigation-based automatic walking intelligent dispensing vehicle - Google Patents
Navigation-based automatic walking intelligent dispensing vehicle Download PDFInfo
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- CN106444745A CN106444745A CN201610770588.8A CN201610770588A CN106444745A CN 106444745 A CN106444745 A CN 106444745A CN 201610770588 A CN201610770588 A CN 201610770588A CN 106444745 A CN106444745 A CN 106444745A
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- 230000004888 barrier function Effects 0.000 claims abstract description 10
- 239000003814 drug Substances 0.000 claims description 29
- 230000003902 lesion Effects 0.000 claims description 16
- SAZUGELZHZOXHB-UHFFFAOYSA-N acecarbromal Chemical compound CCC(Br)(CC)C(=O)NC(=O)NC(C)=O SAZUGELZHZOXHB-UHFFFAOYSA-N 0.000 claims description 11
- 238000004891 communication Methods 0.000 claims description 6
- 238000004364 calculation method Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 description 8
- 229940079593 drug Drugs 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 4
- 230000000474 nursing effect Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000003012 network analysis Methods 0.000 description 2
- 230000006855 networking Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 229920000728 polyester Polymers 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Acoustics & Sound (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a navigation-based automatic walking intelligent dispensing vehicle. The navigation-based automatic walking intelligent dispensing vehicle comprises an electric driving system and an automatic navigation system, wherein the automatic navigation system automatically positions the dispensing vehicle, and then according to the position of the dispensing vehicle, calculates an optimal route for reaching a destination, then the electric driving system drives the dispensing vehicle to the destination, the electric driving system comprises electric wheels, an ultrasonic module and a control module, the ultrasonic modules obtains ultrasonic signals in front and sends the ultrasonic signals to a determining module, the determining module determines whether there is a barrier in front through the ultrasonic signals, and the control module, according to a result determined by the determining module, controls a motor to accelerate, decelerate and stop. The dispensing vehicle can walk automatically, plans a path for the dispensing vehicle in advance, displays the route through a man-machine interface, employs the optimal route as the path in a patient area, saves dispensing time and reduces the workload of a nurse.
Description
Technical field
The present invention relates to intelligent lesion field is and in particular to a kind of automatically walk Intelligent medicine dispensing car based on navigation.
Background technology
For drug control, advanced equipment has typically been used in the places such as pharmacy to modern hospital, and really easily occurs
Problem and the big place exactly lesion of workload, ward between a lesion 30-40, the daily dispensing of nurse must push car
Hurry back and forth back and forth between each ward, and under current overall situation, the nursing staff of China is considerably less than patient, if not
The working strength of nurse reduces, and medical and nursing quality just cannot get a promotion.
At present, how based on pure mechanic structure, minority has informationalized also simply simple increasing to existing dispensing car
One computer is used for checking HIS information it is impossible to accomplish to reduce the workload of nurse's dispensing, and the dispensing needs that remain unchanged are wasted time and energy,
Operation easier is big, is extremely unfavorable for a large amount of dispensing tasks of hospital inpatient area.And present mechanical car, if placed defeated greatly
Liquid, car heavier, carry out especially laborious, increased working strength to nurse.
Content of the invention
It is an object of the invention to the problem above overcoming prior art to exist, provide a kind of automatically walk based on navigation
Intelligent medicine dispensing car, the present invention is driven automatically based on Vidacare corp, can make dispensing car automatically walk, and it is based on Internet of Things
Technology, makes dispensing car integrated positioning function, can know the position of dispensing car and internal medicine in real time by central nurse station
State, do not change the use habit to dispensing car for the user, in advance plan dispensing car path, and by man-machine interface show
Illustrate, dispensing car is optimal path in the path of lesion, saves date of issue, mitigates the workload of nurse.
For realizing above-mentioned technical purpose, reach above-mentioned technique effect, the present invention is achieved through the following technical solutions：
A kind of automatically walk Intelligent medicine dispensing car based on navigation, it includes electric drive system and automated navigation system, institute
State automated navigation system to be automatically positioned dispensing car, then the position calculation according to dispensing car goes out the optimal road arriving at
Footpath, then described electric drive system according to the path of described automated navigation system, dispensing car is driven to destination, described electricity
Dynamic drive system includes：
Electric wheels, described electric wheels, by Motor drive, drive described dispensing garage to walk by described electric wheels；
Ultrasonic module, described ultrasonic module obtains the ultrasonic signal in front, and ultrasonic signal is sent to judge module, described
Judge module by ultrasonic signal judge in front of whether have barrier；
Control module, the result that described control module judges according to described judge module, controlled motor accelerates, slows down, stops
Only, if having barrier in front of the judgement of described judge module, described control module controlled motor is slowed down and is stopped, and treats that barrier is clear
After removing, described judge module judges, described control module controlled motor accelerates again according to the ultrasonic signal of described ultrasonic module,
Dispensing car continues to travel.
Further, described automated navigation system includes：
Memory module, described memory module is used for prestoring the map datum of lesion；
WiFi module, described WiFi module is connected in the wireless network of lesion, obtains three wireless network access points
Wireless signal；
Locating module, the wireless signal of three wireless network points that described locating module obtains according to described WiFi module,
Calculated according to the intensity of the signal obtaining, get the position of dispensing car, be dispensing car positioning；
Computing module, described computing module, by being stored in advance in the map datum in described memory module, then calculates
Go out the dispensing car being positioned by described locating module to the beeline of destination, when there is multiple destination, described calculating simultaneously
Module calculates the path obtaining minimum intersecting routes；
Display module, described display module is used for showing the optimal path that described computing module calculates.
Further, described automated navigation system also includes：Communication module, some dispensing cars are connected into by described communication module
Central nurse station system.
Further, also include sending module, the travel paths that described computing module obtains are sent by described sending module
To the server of central nurse station system, described server calculates the travel paths of acquisition to record described computing module.
Further, described sending module sends the state accessing medicine in dispensing car in real time to nurse station of described central authorities
In system, the dispensing monitoring state to dispensing car for nurse station of the described central authorities system.
Further, the orientation distance of described locating module is 6-50m.
Further, also include authentification of message module, during dispensing, pass through described information authentication module certification dispensing person's identity,
When identity correspondence is consistent, medicine box is opened.
Further, each dispensing car is connected in hospital's total system.
The invention has the beneficial effects as follows:
(1) the Intelligent medicine dispensing car of the present invention, it has electric drive system, can be according to the environment spirit of Different hospital lesion
Live and walk, and speed and direction can be controlled according to actual environment, simple to operate, improve the intelligence of lesion daily nursing work
Change and automate, multimachine interconnection, Wireless Networking can be accomplished simultaneously.
(2) present invention is based on technology of Internet of things, using the indoor positioning technologies based on WIFI and position analysis algorithm, makes to send out
Medicine car integrated positioning function, can know the position of dispensing car in real time by central nurse station, then pass through network analysis, know
It is local which road dispensing car needs, and by the path analysis algorithm of independent development, obtains the shortest or optimal row of dispensing
Journey path, and, this dispensing car does not change the use habit to dispensing car for the user, plans the path of dispensing car in advance, and
Shown by man-machine interface, dispensing car is optimal path in the path of lesion, saves date of issue, mitigates the work of nurse
Amount.And the state of dispensing car internal drug, hospital's total system monitors all the time, improves the security of dispensing process.
Described above is only the general introduction of technical solution of the present invention, in order to better understand the technological means of the present invention,
And can be practiced according to the content of specification, below with presently preferred embodiments of the present invention and coordinate accompanying drawing describe in detail as after.
The specific embodiment of the present invention is shown in detail in by following examples and its accompanying drawing.
Brief description
In order to be illustrated more clearly that the technical scheme in embodiment of the present invention technology, below will be in the description of embodiment technology
The accompanying drawing of required use be briefly described it should be apparent that, drawings in the following description be only the present invention some are real
Apply example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is the principle framework figure of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
Embodiment
Shown in reference Fig. 1, a kind of automatically walk Intelligent medicine dispensing car based on navigation disclosed in the present embodiment, it includes electronic
Drive system and automated navigation system, dispensing car is automatically positioned by above-mentioned automated navigation system, then the position according to dispensing car
Calculate the optimal path arriving at, then above-mentioned electric drive system will be sent out according to the path of above-mentioned automated navigation system
Medicine car drives to destination.
Wherein, above-mentioned electric drive system includes：
Electric wheels, above-mentioned electric wheels, by Motor drive, drive above-mentioned dispensing garage to walk by above-mentioned electric wheels.
Ultrasonic module, above-mentioned ultrasonic module obtains the ultrasonic signal in front, and ultrasonic signal is sent to judge module, above-mentioned
Judge module by ultrasonic signal judge in front of whether have barrier.
Control module, the result that above-mentioned control module judges according to above-mentioned judge module, controlled motor accelerates, slows down, stops
Only, if having barrier in front of the judgement of above-mentioned judge module, above-mentioned control module controlled motor is slowed down and is stopped, and treats that barrier is clear
After removing, above-mentioned judge module judges, above-mentioned control module controlled motor accelerates again according to the ultrasonic signal of above-mentioned ultrasonic module,
Dispensing car continues to travel.
Above-mentioned automated navigation system includes：
Memory module, above-mentioned memory module is used for prestoring the map datum of lesion.
WiFi module, above-mentioned WiFi module is connected in the wireless network of lesion, obtains three wireless network access points
Wireless signal.
Locating module, the wireless signal of three wireless network points that above-mentioned locating module obtains according to above-mentioned WiFi module,
Calculated according to the intensity of the signal obtaining, get the position of dispensing car, be dispensing car positioning.In the present embodiment, above-mentioned
, up to 6～50m, long transmission distance is it is not necessary to additionally increase equipment, by this product and three nothings for the positioning precision of locating module
The wireless signal of line Network Access Point, by Difference Calculation, relatively accurately to carry out triangle polyester fibre to this product.
Computing module, above-mentioned computing module, by being stored in advance in the map datum in above-mentioned memory module, then calculates
Go out the dispensing car being positioned by above-mentioned locating module to the beeline of destination, when there is multiple destination, above-mentioned calculating simultaneously
Module calculates the path obtaining minimum intersecting routes.
Display module, above-mentioned display module is used for showing the optimal path that above-mentioned computing module calculates.
Communication module, some dispensing cars are connected into central nurse station system by above-mentioned communication module.
Sending module, above-mentioned sending module sends the travel paths that above-mentioned computing module obtains to central nurse station system
Server in, above-mentioned server calculates the travel paths obtaining recording above-mentioned computing module.Server end can record row
Footpath path, effectively can provide foundation for doctor-patient dispute as the foundation of position record.
Above-mentioned sending module sends the state accessing medicine in dispensing car to nurse station of above-mentioned central authorities system in real time, on
State the dispensing monitoring state to dispensing car for the central nurse station system.
Also include authentification of message module, during dispensing, pass through above- mentioned information authentication module certification dispensing person's identity, identity corresponds to
When consistent, medicine box is opened.
The Intelligent medicine dispensing car of the present embodiment, it has electric drive system, can be according to the environment spirit of Different hospital lesion
Live and walk, and speed and direction can be controlled according to actual environment, simple to operate, improve the intelligence of lesion daily nursing work
Change and automate, multimachine interconnection, Wireless Networking can be accomplished simultaneously.
The present embodiment is based on technology of Internet of things, using the indoor positioning technologies based on WIFI and position analysis algorithm, makes to send out
Medicine car integrated positioning function, can know the position of dispensing car in real time by central nurse station, then pass through network analysis, know
It is local which road dispensing car needs, and by the path analysis algorithm of independent development, obtains the shortest or optimal row of dispensing
Journey path, and, this dispensing car does not change the use habit to dispensing car for the user, plans the path of dispensing car in advance, and
Shown by man-machine interface, dispensing car is optimal path in the path of lesion, saves date of issue, mitigates the work of nurse
Amount.And the state of dispensing car internal drug, hospital's total system monitors all the time, improves the security of dispensing process.
Described above to the disclosed embodiments, makes professional and technical personnel in the field be capable of or uses the present invention.
Multiple modifications to these embodiments will be apparent from for those skilled in the art, as defined herein
General Principle can be realized without departing from the spirit or scope of the present invention in other embodiments.Therefore, the present invention
It is not intended to be limited to the embodiments shown herein, and be to fit to and principles disclosed herein and features of novelty phase one
The scope the widest causing.
Claims (8)
1. a kind of automatically walk Intelligent medicine dispensing car based on navigation, it includes electric drive system and automated navigation system, described
Dispensing car is automatically positioned by automated navigation system, and then the position calculation according to dispensing car goes out the optimal path arriving at,
Then described electric drive system drives dispensing car to destination according to the path of described automated navigation system, and its feature exists
In described electric drive system includes：
Electric wheels, described electric wheels, by Motor drive, drive described dispensing garage to walk by described electric wheels；
Ultrasonic module, described ultrasonic module obtains the ultrasonic signal in front, ultrasonic signal is sent to judge module, described judgement
Module by ultrasonic signal judge in front of whether have barrier；
Control module, the result that described control module judges according to described judge module, controlled motor accelerates, slows down, stops, such as
Really described judge module has barrier in front of judging, described control module controlled motor is slowed down and stopped, after barrier is removed,
Described judge module judges, described control module controlled motor accelerates, dispensing again according to the ultrasonic signal of described ultrasonic module
Car continues to travel.
2. the automatically walk Intelligent medicine dispensing car based on navigation according to claim 1 is it is characterised in that described self-navigation
System includes：
Memory module, described memory module is used for prestoring the map datum of lesion；
WiFi module, described WiFi module is connected in the wireless network of lesion, obtains the wireless of three wireless network access points
Signal；
Locating module, the wireless signal of three wireless network points that described locating module obtains according to described WiFi module, according to
The intensity of the signal obtaining, to calculate, gets the position of dispensing car, is dispensing car positioning；
Computing module, described computing module by being stored in advance in the map datum in described memory module, then calculate by
The dispensing car of described locating module positioning is to the beeline of destination, when having multiple destination, described computing module simultaneously
Calculate the path obtaining minimum intersecting routes；
Display module, described display module is used for showing the optimal path that described computing module calculates.
3. the automatically walk Intelligent medicine dispensing car based on navigation according to claim 2 is it is characterised in that described self-navigation
System also includes：Communication module, some dispensing cars are connected into central nurse station system by described communication module.
4. the automatically walk Intelligent medicine dispensing car based on navigation according to claim 3 is it is characterised in that also include sending mould
Block, described sending module sends the travel paths that described computing module obtains to the server of central nurse station system, institute
State the travel paths that server calculates acquisition to record described computing module.
5. the automatically walk Intelligent medicine dispensing car based on navigation according to claim 4 is it is characterised in that described sending module
The state accessing medicine in dispensing car is sent in real time to described central authorities nurse station system, nurse station of described central authorities system is to sending out
The dispensing monitoring state of medicine car.
6. the automatically walk Intelligent medicine dispensing car based on navigation according to claim 2 is it is characterised in that described locating module
Orientation distance be 6-50m.
7. according to claim 2 based on navigation automatically walk Intelligent medicine dispensing car recognize it is characterised in that also including information
Card module, passes through described information authentication module certification dispensing person's identity, when identity correspondence is consistent, medicine box is opened during dispensing.
8. the automatically walk Intelligent medicine dispensing car based on navigation according to claim 1-7 any one is it is characterised in that every
Individual dispensing car is connected in hospital's total system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201610770588.8A CN106444745A (en) | 2016-08-31 | 2016-08-31 | Navigation-based automatic walking intelligent dispensing vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610770588.8A CN106444745A (en) | 2016-08-31 | 2016-08-31 | Navigation-based automatic walking intelligent dispensing vehicle |
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| CN106444745A true CN106444745A (en) | 2017-02-22 |
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| CN201610770588.8A Pending CN106444745A (en) | 2016-08-31 | 2016-08-31 | Navigation-based automatic walking intelligent dispensing vehicle |
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Cited By (7)
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| CN108176604A (en) * | 2017-12-25 | 2018-06-19 | 华中科技大学同济医学院附属协和医院 | The drug sorting system and method for a kind of automation |
| CN108703850A (en) * | 2018-05-22 | 2018-10-26 | 丁涛 | A kind of autonomous medicine distributing device and system |
| WO2019075928A1 (en) * | 2017-10-20 | 2019-04-25 | 深圳市前海安测信息技术有限公司 | Medical-assisting medicine dispensing robot and control method |
| CN109855629A (en) * | 2019-03-15 | 2019-06-07 | 朱彬 | A kind of mission planning method, apparatus and electronic equipment |
| CN110235074A (en) * | 2017-04-26 | 2019-09-13 | 深圳市元征科技股份有限公司 | The automatic running method and device of medical vehicle |
| CN111401492A (en) * | 2020-03-13 | 2020-07-10 | 西安富立叶微电子有限责任公司 | Integrated intelligent human body temperature measurement equipment and management system and method |
| CN115132338A (en) * | 2022-08-29 | 2022-09-30 | 苏州德品医疗科技股份有限公司 | Medicine delivery system based on internet of things |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110235074A (en) * | 2017-04-26 | 2019-09-13 | 深圳市元征科技股份有限公司 | The automatic running method and device of medical vehicle |
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| CN115132338A (en) * | 2022-08-29 | 2022-09-30 | 苏州德品医疗科技股份有限公司 | Medicine delivery system based on internet of things |
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Application publication date: 20170222 |